CN109677284A - Charging method and system for automatic navigation vehicle - Google Patents
Charging method and system for automatic navigation vehicle Download PDFInfo
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- CN109677284A CN109677284A CN201811554489.1A CN201811554489A CN109677284A CN 109677284 A CN109677284 A CN 109677284A CN 201811554489 A CN201811554489 A CN 201811554489A CN 109677284 A CN109677284 A CN 109677284A
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- navigation vehicle
- charging unit
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention belongs to the field of electromechanical equipment, relates to automation technology and intelligent logistics equipment, and particularly relates to a charging method and system for an automatic navigation vehicle. The method comprises the following steps: a-0, after detecting a low-power alarm sent by an automatic navigation vehicle, a scheduling center distributes a charging task to the automatic navigation vehicle; a-1, the dispatching center sends a charging instruction to a corresponding charging device after detecting the successful docking information sent by the automatic navigation vehicle; step A-2, the dispatching center sends a charging end instruction to a corresponding charging device after detecting a charging completion request sent by the automatic navigation vehicle; step A-3, the dispatching center sends a charging completion instruction to the corresponding automatic navigation vehicle after detecting a charging completion request sent by the charging device; the charging instruction is used for controlling the charging device to transmit power to the charging connector; and the ending instruction is used for controlling the charging device to stop transmitting power to the charging connector.
Description
Technical field
The invention belongs to field of electromechanical equipment, are related to automatic technology, Intelligent logistics equipment, especially a kind of self-navigation
Vehicle charging method and system.
Background technique
The application for a patent for invention of application publication number CN107834638A, data of publication of application on March 23rd, 2018 disclose one
The automated guided vehicle charging pile and charging system of kind multi-mode.AGV trolley battery condition is monitored by central monitoring system, and
And according to the monitored results AGV trolley that need to charge of guiding to AGV trolley charging pile, and sends charge information to AGV trolley and charge
Stake.The automatic control module of charging pile receives charge information and charge information control charging head module stretches out charging based on the received
Connector is docked with the formation of the charging interface of automated guided vehicle to carry out automatic charging to automated guided vehicle.It is supervised by center
The electricity of system monitoring AGV trolley is controlled, it is low for the judgement precision of electricity.The charging connector of charging pile is constantly in electrification shape
State, safety is low and is easy to cause the damage of charging pile or automatic navigation vehicle.
The application for a patent for invention of application publication number CN108116257A, data of publication of application on June 5th, 2018 disclose one kind
AGV charging pile, AGV automatic charging system and method.Contact protective cover is set on AGV charging pile, for protecting charging process
In exposed charging connector part, avoid charging when other objects touch exposed charging connector part, cause safety
Hidden danger.After the central control module of AGV charging pile receives the charging instruction issued, by movement mechanism control charging connector with
The charging electrode of AGV trolley is docked, and charging module opens charge circuit and charges to AGV trolley.After charging, in
Control module is entreated to control charging module charge closing circuit, it is small by the charging connector and AGV of movement mechanism control charging module
The charging electrode of vehicle is detached from, and the charging connector of charging module is made to return to initial position.So that charging process is safer.Charging
Stake charger when detecting cell voltage, judge AGV trolley battery and charger connection complete, start to battery into
Row charging.It is possible that charging pile is charged and is caused the damage of charging pile or AGV trolley to the charging object of mistake.
Summary of the invention
In order to solve the above-mentioned technical problem the application, proposes a kind of automatic navigation vehicle charging method, which is characterized in that packet
It includes:
Step A-0, control centre detect the low battery alarm that automatic navigation vehicle issues after be that automatic navigation vehicle distribution is filled
Electric task；
Step A-1, control centre issue after detecting the docking successful information that automatic navigation vehicle issues to corresponding charging unit
Charging instruction；
Step A-2, control centre issue after detecting the charging complete request that automatic navigation vehicle issues to corresponding charging unit
Charging END instruction；
Step A-3, control centre issue after detecting the end charge request that charging unit issues to corresponding automatic navigation vehicle
Charging complete instruction；
The charging instruction, for controlling charging unit to charging connector power transmission；
The END instruction stops for controlling charging unit to charging connector power transmission.
The beginning and end of above-mentioned technical proposal charging is all triggered according to the information that automatic navigation vehicle issues, i.e., by leading automatically
Airline itself decides whether to charge and charge whether terminate, and judges precision height；Automatic navigation vehicle with charging unit pair
Charging unit avoids charging unit and charges to the charging object of mistake to charging connector power transmission after being connected into function.
Preferably, the low battery alarm is by automatic navigation vehicle sending when detecting electricity lower than preset value.
Preferably, automatic navigation vehicle according to the charging tasks travel at corresponding charging unit with charging dress
Docking is set, and issues described dock when detecting that its charging interface docks successfully with the charging connector of charging unit and successfully believes
Breath.
Preferably, automatic navigation vehicle includes: step B-1 with the docking of corresponding charging unit, automatic navigation vehicle is according to tune
The charging tasks of degree center distribution are travelled to corresponding charging unit；Step B-2, the charging interface of automatic navigation vehicle with it is corresponding
The charging connector of charging unit is electrically connected.
Preferably, the charging tasks include routing information of the automatic navigation vehicle to corresponding charging unit；Institute
It states automatic navigation vehicle and is driven at corresponding charging unit according to the routing information and docked with the charging unit.
Preferably, the charging tasks include the corresponding charging unit information of the automatic navigation vehicle；It is described to lead automatically
Airline drives at corresponding charging unit according to the charging unit information and docks with the charging unit.
Preferably, the charging complete request is by automatic navigation vehicle sending when detecting that electricity is higher than preset value.
Preferably, the charging complete instruction disconnects and the docking of corresponding charging unit for controlling automatic navigation vehicle.
The present invention also provides a kind of automatic navigation vehicle charging system, including automatic navigation vehicle, charging unit and control centre,
It is characterized by: above-mentioned charging method is used to charge for the automatic navigation vehicle.
Preferably, the control centre includes the task allocating module for distributing charging tasks for automatic navigation vehicle；
The automatic navigation vehicle includes that the charging interface for monitoring the electric quantity monitoring module of battery capacity, for monitoring charging interface is supervised
Survey module；The charging unit includes for the charging module to charging connector power transmission.
The application have it is following the utility model has the advantages that
1. the beginning and end of charging is all initiated by automatic navigation vehicle itself, i.e. the detection of electricity is sentenced by automatic navigation vehicle itself
Disconnected completion, electricity judges precision height.
2. the charging connector of charging unit is not charged before docking with automatic navigation vehicle, in the charging connector of charging unit
Docking for charging unit and automatic navigation vehicle is disconnected after not charged again, it is safer.
3. automatic navigation vehicle charging unit after docking successfully with charging unit avoids charging to charging connector power transmission
Device charges to the charging object of mistake.
4. entire charging process automatic navigation vehicle and charging unit all are coordinated to dock by control centre, it is convenient for Consultation Center
It is managed collectively, is more safe and orderly.
Detailed description of the invention
The system diagram of automatic navigation vehicle charging system Fig. 1 of the invention.
Charging unit structural schematic diagram Fig. 2 of the invention.
Automatic navigation vehicle structural schematic diagram Fig. 3 of the invention.
The flow chart of automatic navigation vehicle charging method Fig. 4 of the invention.
Specific embodiment
Term used herein is used only for the purpose of describing specific embodiments, and is not intended to limit the present invention.Unless in addition
Definition, otherwise all terms used herein have normally understood identical with those skilled in the art
Meaning.It will be further appreciated that essential term should be interpreted as having and it is in related fields and present disclosure
The consistent meaning of meaning.The disclosure will be considered as example of the invention, and is not intended to and limits the invention to particular implementation
Example.
Embodiment one
A kind of automatic navigation vehicle charging system as shown in Figure 1, including charging unit 1, automatic navigation vehicle 2 and control centre 3.
As shown in Fig. 2, charging unit 1 include cabinet body 11, automatic charging connector 12, display panel 13, power supply indicator 14,
Power interface 15, charge status indicating light 16, charging unit are transmitted electricity outward by automatic charging connector and are charged for automatic navigation vehicle.
Multiple charging units 1 are arranged in charged area and use for automatic navigation vehicle.Automatic navigation vehicle 2 as shown in Figure 3 include with for being
The charging interface 21 of its internal battery charging, the charging interface of automatic navigation vehicle 2 can connect with the automatic charging of charging unit 1
First 12 docking, is electrically connected so that filling automatic electric connection with charging interface, and the electric energy of automatic charging interface output is enough through filling
Electrical interface charges to the battery of automatic navigation vehicle.Control centre 3 is the system including host computer and scheduling controlling software.
Network is in communication with each other multiple charging units with control centre by wireless communication, receives the scheduling and control of control centre, to tune
Degree center sends request and feedback states.Network is in communication with each other multiple automatic navigation vehicles with control centre by wireless communication, is connect
The scheduling and control at scheduled center send request and feedback states to control centre.
In the present embodiment, charging unit further includes working as charging module for the charging module to automatic charging connector power transmission
To automatic charging connector power transmission when unlatching, the automatic navigation vehicle that charging unit is docking is charged；When charging module closes
Stop when closing to automatic charging connector power transmission, so that automatic charging connector is not charged.Automatic navigation vehicle further includes for monitoring electricity
The electric quantity monitoring module of pond electricity, the charging interface monitoring modular for monitoring charging interface.Electric quantity monitoring module is by being mounted on
Sensor on navigation vehicle is monitored the electricity of battery, passes through voltage detecting automatic navigation vehicle battery capacity than charging unit
It is more accurate.Charging interface monitoring modular is electrically connected with the charging interface of automatic navigation vehicle, monitoring charging interface whether with charging
The automatic charging connector of device is electrically connected.Control centre further includes the task distribution for distributing charging tasks for automatic navigation vehicle
Module.The low battery alarm that task allocating module is used to be received according to control centre is that automatic navigation vehicle distributes charging tasks, is made
Automatic navigation vehicle can drive to corresponding charging unit according to the relevant information of charging tasks (i.e. control centre distributes for it
Charging unit) at, dock and charge with charging unit.
The automatic navigation vehicle charging method of the present embodiment is as follows:
Step A-0, automatic navigation vehicle initiate charge request to control centre.By the electric power detection mould being mounted on automatic navigation vehicle
Block is monitored the battery capacity of automatic navigation vehicle, and automatic navigation vehicle initiates low electricity according to the monitoring result of electric power detection module
Measure alarm.More accurate to the detection of battery capacity, can preferably grasp the raising of charging opportunity is beneficial to extend battery life, closes
Reason arranges the task of automatic navigation vehicle, improves working efficiency.It specifically includes:
Step A-0-1, it is alert that automatic navigation vehicle sends low battery when electric quantity monitoring module detects battery capacity lower than preset value
It reports to control centre.Low battery alarm contains the identity information of automatic navigation vehicle and electric quantity monitoring module monitors arrive it is current
The information such as electricity and current location.
Step A-0-2, control centre distribute after detecting the low battery alarm that automatic navigation vehicle issues for automatic navigation vehicle
Charging tasks.Control centre is managed collectively the hauling operation of all automatic navigation vehicles and charging operation, task allocating module are connecing
After the low battery alarm for receiving automatic navigation vehicle, according to the working condition of current whole system charging unit and it can have received
Low battery alarm is self-navigation according to the current electric quantity and current location of idle charging unit situation and automatic navigation vehicle
Vehicle distributes suitable charging unit and sends charging tasks to automatic navigation vehicle.Charging tasks may include for automatic navigation vehicle point
The charging unit information or charging tasks matched also may include distributing from automatic navigation vehicle current location to for automatic navigation vehicle
Charging unit routing information.Enabling automatic navigation vehicle according to charging unit information, voluntarily planning path drives to charging
Device, or charging unit is directly driven to according to routing information.
Step A-1, automatic navigation vehicle are docked with charging unit and are charged.Automatic navigation vehicle drives to corresponding charging dress
Place is set, the charging interface of automatic navigation vehicle is docked with the automatic charging connector of charging unit, charging unit is passed through
Automatic charging connector charges to automatic navigation vehicle.It specifically includes:
Step A-1-1, automatic navigation vehicle are travelled according to the charging tasks that control centre distributes to corresponding charging unit.Automatically it leads
Airline can drive at corresponding charging unit according to the routing information for including in charging tasks and dock with charging unit, can also
With according to the charging unit information for including in charging tasks, voluntarily planning path is driven at corresponding charging unit and charging fills
Set docking.
Step A-1-2, the charging interface of automatic navigation vehicle are electrically connected with the charging connector of corresponding charging unit.Charging dress
Set sense automatic navigation vehicle there are when, automatic charging connector can be extend out in the charging interface of automatic navigation vehicle,
So that automatic charging connector and charging interface are electrically connected, so that the charging interface monitoring modular of automatic navigation vehicle
It can monitor that charging interface docks successfully with charging unit.
Step A-1-3, the charging interface of automatic navigation vehicle detect the charging connector pair of its charging interface and charging unit
It is connected into after function and issues docking successful information to control centre, notify that control centre's automatic navigation vehicle and charging unit are completed pair
It connects, can charge.Preferably, automatic navigation vehicle is also provided with charging protecting module, monitor charging interface with
After the charging connector of device docks successfully, charging protecting module is opened, and then automatic navigation vehicle reinforms control centre and is completed
Docking.The back-up jobs such as current working status, running parameter of the charging protecting module for storage system, it is safer.
Step A-1-4, control centre is after detecting the docking successful information that automatic navigation vehicle issues to corresponding charging
Device issues charging instruction.Control centre is according to the electricity for receiving docking successful information sequencing or corresponding automatic navigation vehicle
Amount state successively sends charging instruction to the corresponding charging unit of docking successful information.It can filling to avoid multiple charging units
Electric module is opened simultaneously to charging connector power transmission, is caused to load to the power circuit of charging unit, is led to situations such as tripping,
Charging process is safer.
Step A-1-5, charging unit start after receiving charging instruction to its charging connector power transmission, so that charging unit
The enough batteries that automatic navigation vehicle is flowed to by the charging interface docked with charging connector of the electric energy of output, start to automatic navigation vehicle
It charges.
In the step A-1 of the present embodiment, automatic navigation vehicle is powered on by the charging connector that control centre controls charging unit.
By automatic navigation vehicle control charging unit charging connector whether charge, even if so that even if charging unit automatic charging connector with
The charging object of mistake establishes electrical connection, as long as automatic navigation vehicle is needed not notify control centre's filling automatically to charging unit
Electric connection powers on, and the automatic charging connector of charging unit would not externally transmit electricity, safer, avoids the wasting of resources.
Step A-2, automatic navigation vehicle is powered off by the charging connector that control centre controls charging unit after charging.Tool
Body includes:
Step A-2-1, automatic navigation vehicle detect that charging complete is sent when electricity is higher than preset value requests to control centre.Automatically
The electric quantity monitoring module of navigation vehicle monitors the battery capacity of automatic navigation vehicle during the charging process, when detecting that battery capacity is higher than
Indicate that battery has been filled with electricity when preset value, automatic navigation vehicle sends charging complete and requests to control centre.
Step A-2-2, control centre fill after detecting the charging complete request that automatic navigation vehicle issues to corresponding charging
Set sending charging END instruction.Control centre according to the charging complete request sequencing that detects or it is each complete charging from
The task urgency level of dynamic navigation vehicle successively sends charging instruction to charging complete and requests corresponding charging unit.It can be to avoid
The charging module of multiple charging units is simultaneously stopped to charging connector power transmission, so that on the power circuit of charging unit region
There is overvoltage pulse, it is safer.
Step A-2-3, charging unit stop after receiving charging END instruction to charging connector power transmission.Charging unit
Charging module is simultaneously stopped to automatic charging connector power transmission after charging unit receives charging instruction, causes to go out on power circuit
Existing overvoltage pulse.
Step A-3, the charging interface of automatic navigation vehicle and the charging interface of charging unit undock.It specifically includes:
Step A-3-1, charging unit is sent after stopping to charging connector power transmission terminates charge request to control centre.
Step A-3-2, control centre detect after the end charge request that charging unit issues to corresponding self-navigation
Vehicle issues charging complete instruction.The charging connector of notice automatic navigation vehicle charging unit has been in non-charged state.
Step A-3-3, automatic navigation vehicle receive charging complete instruction after disconnect with the docking of corresponding charging unit, sail
Transport task is continued to execute from charging unit.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those of ordinary skill in the art can be in appended power
Benefit makes various deformations or amendments in the range of requiring.
Claims (10)
1. a kind of automatic navigation vehicle charging method characterized by comprising
Step A-0, control centre detect the low battery alarm that automatic navigation vehicle issues after be that automatic navigation vehicle distribution is filled
Electric task；
Step A-1, control centre issue after detecting the docking successful information that automatic navigation vehicle issues to corresponding charging unit
Charging instruction；
Step A-2, the charging complete that control centre receives automatic navigation vehicle sending issue after requesting to corresponding charging unit
Charging END instruction；
Step A-3, control centre issue after receiving the end charge request that charging unit issues to corresponding automatic navigation vehicle
Charging complete instruction；
The charging instruction, for controlling charging unit to charging connector power transmission；
The END instruction stops for controlling charging unit to charging connector power transmission.
2. a kind of automatic navigation vehicle charging method according to claim 1, it is characterised in that:
The low battery alarm, by automatic navigation vehicle sending when detecting electricity lower than preset value.
3. a kind of automatic navigation vehicle charging method according to claim 1, it is characterised in that:
Automatic navigation vehicle is travelled according to the charging tasks to being docked at corresponding charging unit with the charging unit, and
It detects and issues the docking successful information when its charging interface docks successfully with the charging connector of charging unit.
4. a kind of automatic navigation vehicle charging method according to claim 3, which is characterized in that automatic navigation vehicle with it is corresponding
Charging unit docks
Step B-1, automatic navigation vehicle are travelled according to the charging tasks that control centre distributes to corresponding charging unit；
Step B-2, the charging interface of automatic navigation vehicle are electrically connected with the charging connector of corresponding charging unit.
5. a kind of automatic navigation vehicle charging method according to claim 3, it is characterised in that:
The charging tasks, including the automatic navigation vehicle to the routing information of corresponding charging unit；
The automatic navigation vehicle drives at corresponding charging unit according to the routing information and docks with the charging unit.
6. a kind of automatic navigation vehicle charging method according to claim 3, it is characterised in that:
The charging tasks, including the corresponding charging unit information of the automatic navigation vehicle；
The automatic navigation vehicle is driven at corresponding charging unit according to the charging unit information and the charging unit pair
It connects.
7. a kind of automatic navigation vehicle charging method according to claim 1, it is characterised in that:
The charging complete request, by automatic navigation vehicle sending when detecting that electricity is higher than preset value.
8. a kind of automatic navigation vehicle charging method according to claim 1, it is characterised in that:
The charging complete instruction, disconnects and the docking of corresponding charging unit for controlling automatic navigation vehicle.
9. a kind of automatic navigation vehicle charging system, including automatic navigation vehicle, charging unit and control centre, it is characterised in that:
Charging method described in claim 1 is used to charge for the automatic navigation vehicle.
10. a kind of automatic navigation vehicle charging system according to claim 9, it is characterised in that:
The control centre includes the task allocating module for distributing charging tasks for automatic navigation vehicle；
The automatic navigation vehicle includes for monitoring the electric quantity monitoring module of battery capacity, the charging for monitoring charging interface
Mouth monitoring modular；
The charging unit includes for the charging module to charging connector power transmission.
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| CN201811554489.1A CN109677284B (en) | 2018-12-19 | 2018-12-19 | Charging method and system for automatic navigation vehicle |
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| CN201811554489.1A CN109677284B (en) | 2018-12-19 | 2018-12-19 | Charging method and system for automatic navigation vehicle |
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| CN110281806A (en) * | 2019-06-25 | 2019-09-27 | 陕西重型汽车有限公司 | A kind of charging system and method for automatic Pilot electric car |
| CN110854946A (en) * | 2019-10-21 | 2020-02-28 | 上海宾通智能科技有限公司 | Charging scheduling method and system, electronic device and storage medium |
| CN111890979A (en) * | 2020-07-15 | 2020-11-06 | 上海理工大学 | Electric vehicle offline electric quantity management system and method thereof |
| CN111959336A (en) * | 2020-08-26 | 2020-11-20 | 上海振华重工(集团)股份有限公司 | Intelligent automatic charging system and method for heavy-load electric carrying equipment |
| CN114919447A (en) * | 2021-12-31 | 2022-08-19 | 广州蓝海机器人系统有限公司 | AGV charging system and control method |
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| CN110281806A (en) * | 2019-06-25 | 2019-09-27 | 陕西重型汽车有限公司 | A kind of charging system and method for automatic Pilot electric car |
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| CN114919447B (en) * | 2021-12-31 | 2023-05-23 | 广州蓝海机器人系统有限公司 | AGV charging system and control method |
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| Publication number | Publication date |
|---|---|
| CN109677284B (en) | 2020-12-25 |
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Address after: 313023 shangqiang Industrial Park, Daixi Town, Wuxing District, Huzhou City, Zhejiang Province Patentee after: Dema Technology Group Co.,Ltd. Patentee after: Shanghai dema Logistics Technology Co., Ltd Address before: 313023 shangqiang Industrial Park, Daixi Town, Wuxing District, Huzhou City, Zhejiang Province Patentee before: ZHEJIANG DAMON TECHNOLOGY Co.,Ltd. Patentee before: Shanghai dema Logistics Technology Co., Ltd |